Autonomously encapsulating gripper tooling

ABSTRACT

A gripper tooling includes: a gripper having a gripper body and an angular jaw; a rotor fixedly connected to the angular jaw; and a tooling member for gripping a workpiece, the tooling member including: a base pivotally connected to the rotor; a middle segment pivotally connected to the base; a distal segment pivotally connected to the middle segment; an adducting tendon having a proximal end attached to the rotor and a distal end attached to the distal segment, the rotor for rotating relative to the base and thereby for tensioning the adducting tendon; and an abducting tendon having a proximal end attached to the base and a distal end attached to the distal segment such that the tooling member can autonomously grip the workpiece as the angular jaw rotates toward the workpiece and the tooling member autonomously returns to an ungripped position as the angular jaw rotates away from workpiece.

CROSS REFERENCE TO RELATED APPLICATIONS

This is a continuation of U.S. patent application Ser. No. 16/430,724,entitled “AUTONOMOUSLY ENCAPSULATING GRIPPER TOOLING”, filed Jun. 4,2019, which is incorporated herein by reference. U.S. patent applicationSer. No. 16/430,724 is a non-provisional application based upon U.S.provisional patent application Ser. No. 62/682,471, entitled“AUTONOMOUSLY ENCAPSULATING GRIPPER TOOLING”, filed Jun. 8, 2018, whichis incorporated herein by reference.

BACKGROUND OF THE INVENTION 1. Field of the Invention

The present invention relates to gripper tooling, and, moreparticularly, to self-articulating grippers.

2. Description of the Related Art

Grippers are mechanical devices which generally include jaws that aremoved together or apart by motive devices, such as electric motors orpneumatic pistons. Tooling is typically fastened to the jaw to providesome degree of conformal contact between the surface of the tool and oneor more surfaces of a gripped workpiece. Once the jaws have moved thefastened tooling into a position of contact with the gripped workpiece,the jaws produce a force against the tooling which is transferred by thetooling to retain the workpiece so that the position of the workpiecemight be subsequently translated or rotated. It is often desirable thatthe tooling fully or partially encapsulate the profile of the workpieceto prevent relative motion from occurring between the workpiece andtooling as the workpiece is subsequently translated or rotated orexternal forces are applied to the workpiece.

It is known in the art to construct the tooling with a complimentarycontacting surface profile which corresponds to the profile of thework-piece to better encapsulate a gripped workpiece. This method ofencapsulation typically renders the tooling suitable for gripping only asingle shape of workpiece or a series of similarly shaped workpiecesthat share a common surface profile. Generally, tooling must be removedand replaced if a noncompatible shape of workpiece is to be subsequentlygripped, resulting in an undesirable increase in downtime and reducedthroughput for the manufacturing or material handing operation of whichthe gripper is a part.

What is needed in the art is a cost-effective gripper for automaticallyaccommodating the shape of the workpiece and gripping the workpiece.

SUMMARY OF THE INVENTION

The present invention provides a gripper tooling capable of autonomouslyadjusting to conform to the gripped profile of the workpiece, so as toencapsulate a broad spectrum of shapes and sizes of workpieces. Thegripper tooling furthermore derives the motive force necessary to adjustsolely from the motion of the gripper jaws to which the tooling isattached. This manner of force derivation simplifies the connectionbetween the tooling and the gripper as the tooling need only to bemechanically fastened to the gripper in order to operate as desired.Such manner of simple attachment allows the tooling to be used withnumerous types of commercial grippers by only changing the mountingpattern of the tooling to match the pattern of the gripper jaws.

The invention in one form is directed to a gripper tooling including agripper having a gripper body and at least one jaw connected andlinearly sliding relative to the gripper body, at least one sliderconnected to the at least one jaw, and at least one tooling memberconfigured for gripping a workpiece. Each tooling member including abase slideably mounted to the at least one slider, at least one middlesegment pivotally connected to the base, a distal segment pivotallyconnected to the at least one middle segment, an adducting tendon havinga proximal end attached to the at least one slider and a distal endattached to the distal segment, and an abducting tendon having aproximal end attached to the base and a distal end attached to thedistal segment. The at least one tooling member is configured forautonomously gripping the workpiece as the at least one jaw moves towardthe workpiece and the at least one tooling member autonomously returnsto an ungripped position as the at least one jaw moves away from theworkpiece.

The invention in another form is directed to a gripper tooling includinga gripper having a gripper body and at least one angular jaw, at leastone rotor rotatably connected to the at least one angular jaw, and atleast one tooling member configured for gripping a workpiece. Eachtooling member including a base pivotally connected to the at least onerotor, at least one middle segment pivotally connected to the base, adistal segment pivotally connected to the at least one middle segment,an adducting tendon having a proximal end attached to the at least onerotor and a distal end attached to the distal segment, and an abductingtendon having a proximal end attached to the base and a distal endattached to the distal segment. The at least one tooling member isconfigured for autonomously gripping the workpiece as the at least oneangular jaw rotates toward the workpiece and the at least one toolingmember autonomously returns to an ungripped position as the at least oneangular jaw rotates away from the workpiece.

The invention in yet another form is directed to a method for gripping aworkpiece including a step of providing a gripper tooling including agripper having a gripper body and at least one jaw moveably connected tothe gripper body, at least one mount moveably connected to the at leastone jaw, and at least one tooling member configured for gripping theworkpiece, each tooling member including a base moveably mounted to theat least one mount, at least one middle segment pivotally connected tothe base, a distal segment pivotally connected to the at least onemiddle segment, an adducting tendon having a proximal end attached tothe at least one mount and a distal end attached to the distal segment,and an abducting tendon having a proximal end attached to the base and adistal end attached to the distal segment. The method also includes thesteps of gripping the workpiece by the adducting tendon upon moving thebase, by the at least one jaw, to be immobilized by the workpiece, andungripping the workpiece by the abducting tendon upon moving the base,by the at least one jaw, away from the workpiece.

An advantage of the present invention is that the gripper toolingfingers self-articulate, via the usual operational motion of the gripperjaws, to autonomously encapsulate a plethora of differently-shapedworkpieces.

Another advantage of the present invention is that the self-articulatinggripper tooling fingers can be easily and efficiently attached tonumerous types of gripper jaws by only changing the mounting pattern ofthe gripper tooling fingers to match the mounting pattern of the gripperjaws.

BRIEF DESCRIPTION OF THE DRAWINGS

The above-mentioned and other features and advantages of this invention,and the manner of attaining them, will become more apparent and theinvention will be better understood by reference to the followingdescription of embodiments of the invention taken in conjunction withthe accompanying drawings, wherein

FIG. 1 is a perspective view of an embodiment of a gripper toolinghaving left and right tooling members according to the presentinvention;

FIG. 2 is an exploded view of the left tooling member of FIG. 1 ;

FIG. 3 is a front view of the left tooling member of FIG. 1 ;

FIG. 4 is a cross-sectional view of the left tooling member, takenacross line 4-4 in FIG. 3 ;

FIG. 5 is a cross-sectional view of the left tooling member, takenacross line 5-5 in FIG. 3 ;

FIG. 6 is a cross-sectional view of the top of the left tooling member,taken across line 6-6 in FIG. 3 :

FIG. 7 is an exploded view of the right tooling member of the grippertooling of FIG. 1 ;

FIG. 8 is a front view of the right tooling member;

FIG. 9 is a cross-sectional view of the right tooling member, takenacross line 9-9 in FIG. 8 ;

FIG. 10 is a cross-sectional view illustrating the underside of theright tooling member, taken across line 10-10 in FIG. 8 ;

FIG. 11 is a side view of the gripper tooling in an initial positionwith an example of a cylindrical workpiece;

FIG. 12 is a side view of the gripper tooling in an intermediaryposition with the workpiece as shown in FIG. 11 ;

FIG. 13 is a side view of the gripper tooling in an encapsulationposition in which the gripper tooling is gripping the workpiece as shownin FIG. 11 ;

FIG. 14 is a front view of the left tooling member in the encapsulatedposition;

FIG. 15 is a cross-sectional view of the left tooling member in theencapsulated position, taken across line 15-15 in FIG. 14 ;

FIG. 16 is a front view of the right tooling member in the encapsulatedposition;

FIG. 17 is a cross-sectional view of the right tooling member in theencapsulated position, taken across line 17-17 in FIG. 16 ;

FIG. 18 is a perspective view of another embodiment of a gripper toolingaccording to the present invention;

FIG. 19 is a perspective view of another embodiment of a gripperaccording to the present invention;

FIG. 20 is a perspective view of another embodiment of a gripperaccording to the present invention;

FIG. 21 is a perspective view of another embodiment of a gripper toolingwith left and right tooling members having angular jaw travel accordingto the present invention;

FIG. 22 is an exploded view of the left tooling member of the grippertooling as shown in FIG. 21 ;

FIG. 23 is an exploded view of the right tooling member of the grippertooling as shown in FIG. 21 , and

FIG. 24 is a side view of the gripper tooling as shown in FIGS. 21-23 inthe encapsulated position.

Corresponding reference characters indicate corresponding partsthroughout the several views. The exemplifications set out hereinillustrate embodiments of the invention and such exemplifications arenot to be construed as limiting the scope of the invention in anymanner.

DETAILED DESCRIPTION OF THE INVENTION

Referring now to the drawings, and more particularly to FIG. 1 , thereis shown one embodiment of the gripper tooling mounted to anillustrative gripper with parallel jaw travel 50, such as the GRH seriesgripper manufactured by the PHD Corporation. Left tooling member 100consists of a single gripper “finger” including a base 101 to which isattached a chain of multiple identical articulated segments 110, cappedby an articulated distal segment 120. A slider 102 attaches left toolingmember 100 to the left jaw 51 of gripper 50 with threaded fasteners (notshown, see also FIG. 11 ). Right tooling member 200 consists of a base201 to which is attached two gripper fingers comprising multipleidentical articulated segments 210, capped by identical articulateddistal segments 220. A slider 202 attaches right tooling member 200 tothe right jaw 52 of gripper 50 with threaded fasteners (not shown).Although the embodiment illustrates similar finger construction for theleft and right fingers, it will be understood by one skilled in the artthat the articulated segments comprising the left and right fingers canalso differ in quantity, overall dimensions, construction, and physicalarrangement from those illustrated. It is also understood that left andright fingers need not be of similar construction to one another andthat the quantity of fingers present on each tooling member can bevaried without affecting the fundamental nature of the invention.

Referring now to FIGS. 2-6 , there is shown the left tooling member 100.Ribs protruding from the sides of slider 102 are disposed intocomplementary slots in the base 101 so as to prevent the rotation of thebase 101 with respect to the slider and limit the translation of thebase 101 in all directions except along the longitudinal axis of slider102. A bevel on the forward edge of slider 102 acts to lift any portionof the workpiece that the slider may contact out of the path of theslider as the slider, mechanically fastened to the left jaw 51 ofgripper 50, moves towards the workpiece.

The left tooling member 100 may include an adducting tendon 104 having aproximal end connected to the slider 102 and a distal end connected tothe distal segment 120. The adducting tendon 104 may be in the form of acable 104. A lower knurled cylindrical cleat 103 may mechanically fastenthe proximal end of the cable 104 to the slider 102. However, inaddition or alternatively to such mechanical attachment, the cable 104may be attached with a suitable adhesive applied between the cable 104and the slider 102. The cable 104 may be composed of any desiredmaterial. In one embodiment, the cable 104 is a polymer cable whichoffers the advantages over traditional steel cable of improvedresistance to fatigue and corrosion, greater flexibility, improveddissipation of mechanical shock, and lower cost.

A set of pulleys 105, supported by pivot pins 106 pressed intocomplimentary holes in body 101, route the motion of cable 104 so thatas the proximal end of the cable 104 is pulled by the motion of slider102 relative to body 101, cable 104 is drawn through the centralpassages of articulated segments 110. Although pulleys 105 are shown asbeing directly supported by pivot pins 106, it is understood that asuitable commercial bearing bushing, radial ball bearing, or needlebearing could be interposed between the pulley and pin when the size ofpulley 105 is sufficiently large to allow doing so.

Pivot pins 107 pass though complimentary holes in base 101 and segments110 and 120 to attach common segments 110 to base 101, to each other,and to distal segment 120, forming a chain of pinned articulatedsegments radiating outwards from base 101. Although segments 110 andsegment 120 are shown as being directly supported by pivot pins 107, itis understood that a suitable commercial bearing bushing, radial ballbearing, or needle bearing could be interposed between the pivot hole inthe segments and pin 107 when the size of segment is sufficiently largeto allow doing so.

The upper, distal end of the cable 104 may be mechanically fastened tothe distal segment 120 with an upper knurled cylindrical cleat 108. Itis understood that such mechanical attachment could also be affectedwith a suitable adhesive applied between the cable 104 and the segment120. Cable 104 passes over pulleys 109 disposed within each identicalsegment 110. In this manner, cable 104, suitably attached between slider102 and distal segment 120, effectively forms the taut adducting tendon104 located on one side of segment pivot pins 107. Although pulleys 109are shown as being directly supported by pivot pins 106 pressed intocomplimentary holes in segments 110, it is understood that a suitablecommercial bearing bushing, radial ball bearing, or needle bearing couldbe interposed between the pulley and pin when the size of pulley 109 issufficiently large to allow doing so.

The left tooling member 100 may include an abducting tendon 111. Anexternal strip 111 may effectively form the abducting tendon 111, whichis located on the opposing side of pivot pins 107. The external strip111 may be composed of a suitable elastomeric material. The distal endof the strip 111 is attached in any desired way, such as thermal oradhesive bonding, into a complimentary groove in distal segment 120. Theproximal end of elastomeric strip 111 is disposed within a complementaryslot in body 101 and is attached to body 101 by the clamping action ofset-screw 112 or by other suitable thermal or adhesive bonding. Theportion of strip 111 between the distal and proximal attached ends isunconstrained and free to stretch or relax. The strip 111 is stretchedduring installation to create a tension in the strip 111 which acts topull distal segment 120 toward base 101. This pull induces a torque indistal segment 120 and common segments 110 which acts to rotate eachsegment counterclockwise (CCW) with respect to pivot pins 107. It shouldbe understood by one skilled in the art that strip 111 could be replacedby one or more helical extension springs or a flexible, butnon-stretchable tensile member attached to a suitable spring to providethe same function as an elastomeric strip.

Bosses 113, protruding from the sides of common segments 110, engagecomplimentary slots 114, in body 101 and segments 110 to constrain theangle of CCW rotation of the segment pinned to base 101 and eachsuccessive pinned segment in the segment chain, relative to the priorsegment. Thusly constrained by the action of bosses 113 within slots114, the segments cannot rotate CCW about pivots 107 beyond a positionin which the segments are in a straight, vertical alignment with oneanother.

Clockwise (CW) rotation of any segment under the influence of anexternal torque causes additional stretching of strip 111, with aresulting increase in the torque applied by the strip to the CW rotatedsegment in this manner, strip 111 functions as an abducting tendon whichconstantly applies a torque to segments 110 and 120 about pivot pin 107to restore the segments into straight vertical alignment with oneanother. Downward motion of adductor cable 104 through the centralpassages of segments 110 induces a CW torque in segments 110 and 120that causes the segments to rotate CW about pivot pins 107, furtherstretching abductor strip 111.

Pads 115 are suitably bonded into complimentary recesses in segments110. Pads 115 are constructed of a material such as a suitable elastomeror a nanodiamond impregnated metal substrate, possessing a highcoefficient of static friction, so as to enhance the frictional forcesgenerated between the pad and any surface of the gripped workpiece thatthe pad might contact.

Dimension 20 indicates the orthogonal distance between the center ofpivot pin 107 connecting the proximal most common segment 110 to base101 and the centerline of adductor cable 104. Dimension 21 indicates theorthogonal distance between the respective pivot pins 107 of theremaining segments and the centerline of cable 104. Dimension 22indicates the orthogonal distance between the pivot pins 107 of theremaining segments and the centerline of abductor strip 111. The CWacting torque about pivot pins 107 applied to the various segments bythe tension in adductor cable 104 is equal to the product of the tensionin the cable and the orthogonal distance between the respective pivotpin and the centerline of the adductor cable 104 in an analogous manner,the CCW acting torque about pivot pins 107 applied to the varioussegments by the tension in abductor strip 111 is equal to the product ofthe tension in the strip and the orthogonal distance between therespective pivot pin and the centerline of the abductor strip. It willbe evident to one skilled in the art that as the tension in cable 104when pulled upon is constant along the entire length of the cable, onlythe orthogonal distance between the center of the respective pivot pin107 and cable centerline needs be varied to control the torque appliedby cable 104 to any given segment. It will also be evident that thelocal tension in abductor strip 111 is a function of the cross-sectionalarea of the strip at that locality, so that the local tension in thestrip can be controlled by selectively varying the cross-sectional areaof strip 111 along the length of the strip. Therefore, the net torqueacting on any given segment can be chosen by controlling the localcross-sectional area of strip 111, the distance between the respectivepivot pin 107 of the segment and the centerline of abductor strip 111,and the distance between the respective pivot pin 107 of the segment andthe centerline of adductor cable 104. It will also be evident that inthe absence of any external torques acting upon the segments, thesegment with the greatest net applied CW torque will rotate toward theworkpiece first, with each remaining segment successively rotating indescending order of net applied CW torque.

The cleat 108 mechanically fastens the distal end of adductor cable 104to distal segment 120. Cleat 108 is comprised of central cylinder 108Cthe outer diameter of which receives a straight knurl or other frictionenhancing treatment such as a nanodiamond impregnated plating. Bosses108A and 108B flank central cylinder 108C (FIG. 2 ).

After installation of the cleat 108 into distal segment 120, the surfaceof boss 108A rests against complimentary surface 120A in the cleatcavity within segment 120, while the surface of boss 108B similarlyrests against complimentary surface 120B. A complimentary relief 120Cforms a cleat cavity 120C within segment 120 to prevent any portion ofthe central cylinder 108C of cleat 108 from contacting any portion ofsegment 120 (FIGS. 2 and 6 ). Central cylinder 108C is free to contactthe surface of cable 104 which is pressed into contact with surface 120Dof segment 120 by the action of central cylinder 108C. Angle 26 denotesthe angle formed by surfaces 120A and 120B and cable contact surface120D in segment 120. Angle 26 is chosen to be shallow, in the range of10 to 30 degrees. Arrow 27 indicates the force applied to cleat centralcylinder 108A to install cleat 108 into cleat cavity 120C of distalsegment 120. While cable 104 is held taut, Force 27 is applied to theleft of the axis of central cylinder 108C as cleat 108 is guided intothe mouth of recess 120C, causing the surface of cylinder 108C to rollCCW against the surface of cable 104 while surfaces 108A and 108B slideagainst surfaces 120A and 120B, respectively. The acute nature of angle26 creates a wedging action which decreases the space between surfaces120A and 120B and 120D as cleat 108 moves progressively into recess120C. This decrease in space progressively compresses cable 104 betweenthe surface of cleat central cylinder 108C and surface 120D of segment120 as the cleat 108 rolls along the surface of the cable 104, until thecable 104 becomes completely jammed against surface 120D, stopping theentry of the cleat 108 into recess 120C. Arrow 28 indicates thedirection of external tension in cable 104 as the cable is pulled by theaction of slider 102 (FIGS. 2, 4, and 6 ). Tension applied in thedirection of arrow 28 causes cleat 108 to rotate CW, with surfaces 108Aand 108B rolling against surfaces 120A and 120B, respectively, whichcauses further compression of cable 104 against surface 120C by cylinder108C. In this manner, any external tension applied to cable 104 in thedirection of arrow 28 acts to proportionally increase the jamming forceapplied by cleat 108 against cable 104 to retain cable 104 againstsurface 120D.

It is understood that the same wedging mechanism used by cleat 108 toretain the distal end of cable 104 within distal segment 120 is alsoused to by the lower cleat 103 to retain the proximal end of cable 104in slider 102.

Referring now to FIGS. 7-10 , there is shown the right tooling member200. Ribs protruding from the sides of slider 202 are disposed intocomplementary slots in base 201 so as to prevent the rotation of thebase 201 with respect to the slider and limit the translation of base201 in all directions except along the longitudinal axis of slider 202.A bevel on the forward edge of slider 202 acts to lift any portion ofthe workpiece that the slider may contact out of the path of the slideras the slider, mechanically fastened to the right jaw 52 of gripper 50,moves towards the workpiece.

Pivot pins 207 pass though complimentary holes in base 201 and segments210 and 220 to attach common segments 210 to base 201, to each other,and to distal segment 220, forming two chains of pinned articulatedsegments radiating outwards from base 201. Although segments 210 andsegment 220 are shown as being directly supported by pivot pins 207, itis understood that a suitable commercial bearing bushing, radial ballbearing, or needle bearing could be interposed between the pivot hole inthe segments and pin 207 when the size of segment is sufficiently largeto allow doing so.

The right tooling member 200 may include an adducting tendon 204 havinga proximal center portion connected to the slider 202 and distal endsconnected to the distal segments 220. The adducting tendon 204 may be inthe form of a cable 204. The proximal center portion of cable 204 isrouted around pulleys 216 which are supported by pivot pins 206 pressedinto complimentary holes in slider 202. In one embodiment cable 204 is apolymer cable which offers the advantages over traditional steel cableof improved resistance to fatigue and corrosion, greater flexibility,improved dissipation of mechanical shock, and lower cost. Pulleys 205,supported by pivot pins 206 pressed into complimentary holes in body210, route the motion of each end of cable 204 so that as the proximalcenter of the cable 204 is pulled by the motion of slider 202 relativeto body 201, each end of cable 204 is drawn through the central passagesof articulated segments 210 of one of the two segment chains. Althoughpulleys 205 are shown as being directly supported by pivot pins 206, itis understood that a suitable commercial bearing bushing, radial ballbearing, or needle bearing could be interposed between the pulley andpin when the size of pulley 205 is sufficiently large to allow doing so.

Each distal end of cable 204 can be mechanically fastened to distalsegment 220 of one segment chain with knurled cylindrical cleat 208. Itis understood that such mechanical attachment could also be affectedwith a suitable adhesive applied between the cable 204 and the segment220. It is further understood that the same wedging mechanism used bycleat 108 to retain the distal end of cable 104 within distal segment120 is also used to by cleats 208 to retain each distal end of cable 204in distal segments 220.

Cable 204 passes over pulleys 209 disposed within each identical segment210. In this manner, each side of cable 204, suitably attached betweenslider 202 and distal segment 220, effectively forms a taut adductingtendon located on one side of segment pivot pins 207. Although pulleys209 are shown as being directly supported by pivot pins 206 pressed intocomplimentary holes in segments 210, it is understood that a suitablecommercial bearing bushing, radial ball bearing, or needle bearing couldbe interposed between the pulley and pin when the size of pulley 209 issufficiently large to allow doing so.

It is desirable that each of the two segment chains of tooling member200 may contact and conform to the profile of a gripped workpieceindependently of one another. Such independent conformance assistsduring the gripping of workpieces possessing a plurality of asymmetricprofiles by maximizing the number of contact points between the toolingand workpiece. The articulated motion of any segment chain ceases whenthat chain fully conforms to the profile of the gripped workpiece,causing motion of the end of cable 204 attached to the fully conformedsegment chain to correspondingly cease and become stationary. Theability of cable 204 to laterally translate across pulleys 216, asdenoted by arrow 17 in FIG. 10 , subsequently allows the length of thecable to shift from the free end to the stationary end, allowing thefree end of cable 204 to continue to be pulled by the action of slider202 translating relative to body 201. Once both segments chains havecompletely conformed to the workpiece, the ability of cable 204 totranslate laterally across pulleys 216 further provides a way ofequalizing the tension between the two ends of the cable 204.

The strip 211, constructed of a suitable elastomeric material,effectively forms an abducting tendon located on the opposing side ofpivot pins 207. The distal end of strip 211 is attached by suitablemeans, such as thermal or adhesive bonding, into a complimentary groovein distal segment 220. The proximal end of elastomeric strip 211 isdisposed within a complementary slot in body 201 and is attached to body201 by the clamping action of set-screw 212 or by other suitable thermalor adhesive bonding. The portion of strip 211 between the distal andproximal attached ends is unconstrained and free to stretch or relax.The strip 211 is stretched during installation to create a tension inthe strip which acts to pull distal segment 220 toward base 201. Thispull induces a torque in distal segment 220 and common segments 210which acts to rotate each segment CW with respect to pivot pins 207(FIG. 9 ). It should be understood by one skilled in the art that thestrip 211 could be replaced by one or more helical extension springs ora flexible, but non-stretchable tensile member attached to a suitablespring to provide the same function as an elastomeric strip. It shouldbe appreciated that the orientation of member 200 is reversed in FIG. 7when compared to FIG. 9 .

Bosses 213, protruding from the sides of common segments 210, engagecomplimentary slots 214, in body 201 and segments 210 to constrain theangle of CW rotation of the segment pinned to base 201 and eachsuccessive pinned segment in the segment chain, relative to the priorsegment. Thusly constrained by the action of bosses 213 within slots214, the segments cannot rotate CW about pivots 207 beyond a position inwhich the segments are in a straight, vertical alignment with oneanother.

CCW rotation of any segment under the influence of an external torquecauses additional stretching of strip 211, with a resulting increase inthe torque applied by the strip to the CCW rotated segment. In thismanner, strip 211 functions as an abducting tendon which constantlyapplies a torque to segments 210 and 220 about pivot pin 207 to restorethe segments into straight vertical alignment with one another. Downwardmotion of adductor cable 204 through the central passages of segments210 induces a CCW torque in segments 210 and 220 that causes thesegments to rotate CCW about pivot pins 207, further stretching abductorstrip 211.

Pads 215 are suitably bonded into complimentary recesses in segments210. Pads 215 are constructed of a material such as a suitable elastomeror a nanodiamond impregnated metal substrate, possessing a highcoefficient of static friction, so as to enhance the frictional forcesgenerated between the pad and any surface of the gripped workpiece thatthe pad might contact.

Dimension 23 indicates the orthogonal distance between the center ofpivot pin 107 connecting the proximal most common segment 210 to base201 and the centerline of adductor cable 204. Dimension 24 indicates theorthogonal distance between the respective pivot pins 207 of theremaining segments and the centerline of cable 204. Dimension 25indicates the orthogonal distance between the pivot pins 207 of theremaining and the centerline of abductor strip 211. In analogous mannerto member 100, the cross-sectional area of corresponding abductor strip211 and orthogonal distances between the pivot pins 207 and centerlinesof strip 211 and abductor cable 204 can be similarly chosen to controlthe rotational order of each segment chain.

Referring now to FIGS. 11-13 , there is shown the gripper tooling in itssequence operation as the gripper tooling engages an example of aworkpiece 30. In FIG. 11 , the left jaw 51 and right jaw 52 move theleft tooling member 100 and the right tooling member 200 towardcylindrical workpiece 30, in the direction of arrows 12 and 13,respectively. During this motion, the segments comprising the lefttooling member 100 and the right tooling member 200 are held in straightvertical alignment by the tension of the stretched elastomeric strips111 and 211, respectively. So long as all segments are verticallyaligned, cables 104 and 204 remain taut, which prevents any relativemotion between sliders 102 and base 101 and slider 202 and base 201, asany relative motion between the sliders and bases require CW rotation ofsegments about pivot pins 107 or CCW rotation of the segments aboutpivot pins 207 (see also FIGS. 4 and 9 ). The bases 101 and 201therefore move in conjunction with respective sliders 102 and 202, asdenoted by arrows 14 and 15, respectively.

FIG. 12 shows tooling members 100 and 200 at the moment of initialcontact with the workpiece 30. As pad 115 on segment 110 contactsworkpiece 30, the finger formed by segments 110 and distal segment 120pinned together by pivot pins 107 is brought to rest. Base 101 is alsobrought to rest by the action of segment 110 acting through the pinnedconnection to base 101 established by pivot pin 107. However, slider 102remains free to translate under the influence of jaw 51, to which it isfastened, as denoted by arrow 12. In an analogous manner, as pad 215 onsegment 210 contacts workpiece 30, the finger formed by segments 210,distal segments 220, and pivot pins 207 is brought to rest by contactwith workpiece 30. Base 201 is brought to rest by the action of segment210 acting through the pinned connection to base 201 established bypivot pin 207, while slider 202 remains free to translate under theinfluence of jaw 52, as denoted by arrow 13.

Referring now collectively to FIGS. 11-17 , there is shown the toolingmembers 100 and 200 gripping the workpiece 30. Once base 101 is broughtto rest by the segment chain, including segments 110 and 120 and pins107, acting against workpiece 30, slider 102 continues to translateunder the action of gripper jaw 51, relative to stationary base 101.Such relative motion pulls adductor cable 104, routed around pulleys105, downward through the central passages of segments 110. Downwardmotion of cable 104 induces a CW torque in segments 110 and 120 thatcauses the segments to rotate CW in the direction of arrow 16 aboutpivot pins 107, stretching abductor strip 111 and forcing pads 115bonded to segments 110 and strip 111 bonded onto distal segment 120 intoconformal contact with the surface of workpiece 30.

Once base 201 is brought to rest by either segment chain, includingsegments 210 and 220 and pins 207, contacting the workpiece 30, slider202 continues to translate under the action of gripper jaw 52, relativeto stationary base 201. Such relative motion pulls adductor cable 204,routed around pulleys 205, downward through the central passages ofsegments 210. Downward motion of cable 204 induces a CCW torque insegments 210 and 220 that causes the segments to rotate CCW in thedirection of arrow 17 about pivot pins 207, stretching abductor strip211 and forcing pads 215 bonded to segments 210 and strip 211 bondedonto distal segment 220 into conformal contact with the surface ofworkpiece 30.

Referring now to FIGS. 15 and 17 , there is shown the tooling members100, 200 in the actuated, encapsulating position. The small black arrowsdenote both the direction of motion and the direction of thecorresponding motive tension of adductor cables 104, 204 as the cables104, 204 are drawn through the respective central passages of segments110, 210.

In one form of the embodiment, the cross-sectional area of strip 111 iskept constant along the length of the strip and orthogonal distance 22is kept constant for all segments while the value of orthogonal distance20 for the proximal most segment 110 pinned to base 101 is chosen to begreater than the value of distance 21 for the remainder of the segments.The cross-sectional area of strip 211 is chosen to match that of strip111 and the values for the orthogonal distances 23, 24, and 25 arechosen to match the values chosen for distances 20, 21, and 22,respectively.

This form increases the force applied to the gripped workpiece by theproximal most segments 110 and 210 while reducing the forces applied tothe workpiece by the remaining segments. Concentrating the forcedistribution toward the proximal end of the segment chains provides theadvantage of reducing the moments generated about sliders 102 and 202,by the finger chains during gripping, reducing the reaction forcesbetween the bases and sliders and the frictional losses that arise fromthese reaction forces which reduce the efficiency of the gripper.

In another form of the embodiment, the cross-sectional area of strips111 and 211 is progressively reduced from the proximal end to the distalend of each strip and orthogonal distances 22 and 25 are kept equal forall segments. The values of orthogonal distances 20 and 23 for theproximal most segments are made equal to values for distances 21 and 24for the remainder of the segments.

This form causes the distal segments 120 and 220 to rotate first whenthe segment chain contacts the workpiece, with the remainder of therespective segment chains rotating in succession from the distal most tothe proximal most segments. This manner of progressive distal toproximal rotation provides the advantage of pushing the contactedwork-piece progressively toward the gripper, so that the grippedwork-piece rests as closely as possible to the gripper.

It will also be apparent that the same manner of progressive distal toproximal segment rotation can be accomplished by choosing the values fororthogonal distances 20 and 23 for the proximal most segments to be lessthan the values of distances 21 and 24 for the remainder of thesegments, with the local values of distances 21 and 24 progressivelyincreasing from the proximal end to the distal end of each respectivesegment chain. This proximal to distal progression of pivot pin toadductor cable spacing can be performed either independently or inconjunction with the proximal to distal cross-sectional tapering ofabductor strips 111 and 211.

Referring now to FIG. 18 , there is shown another embodiment of agripper tooling in which the tooling members 100 and 200 upon gripper 50are juxtaposed. This form provides for gripping during the opening,rather than the closing, of the gripper jaws 51 (not shown) and 52. Sucha manner of gripping is desirable when the workpiece is hollow such as apipe, hoop or torus and needs to be gripped from the interior opening.

In another embodiment of the present invention, a magnet is added tosliders 102 and 202 and a magnet sensing switch is added to bases 101and 201, allowing each switch to detect the position of the respectiveslider relative to the respective base. Detecting relative motionbetween each respective slider and base provides a desirable means ofelectronically communicating the onset of contact between each toolingmember and the gripped workpiece. This allows the gripper jaws 51, 52 tomove rapidly toward the workpiece, but then slow down to allow for amore precise gripping and/or for the gripping force to be limited untilcontact with a workpiece is detected and/or verified to be in a desiredlocation in order to enhance operational concerns.

Referring now to FIGS. 19-20 , there is shown another embodiment of thepresent invention which includes left and right tooling members 300,400. The segment chains are chosen to resemble the number, size, shape,and physical proportions of a representative human finger or thumb.Right tooling member 300 comprises a single segment chain while lefttooling member 400 comprises two or more segment chains. The segmentchain of tooling member 300 can be chosen to comprise a proximal 330,middle 340 and distal segment 350 to resemble a human finger or only aproximal 330 and distal 350 segment to resemble a human thumb. Eachsegment chain of tooling member 400 comprises a proximal 430, middle 440and distal segment 450 to resemble a human finger.

Referring now to FIGS. 21-24 , there is shown another embodiment of thepresent invention which is configured to mount to an illustrativegripper with angular jaw travel 70, such as the GRB series grippermanufactured by the PHD Corporation. Left tooling member 500 generallyincludes a single finger having a base 501 to which is attached a chainof multiple identical articulated segments 510, capped by articulateddistal segment 520. Rotor 502 attaches left tooling member 500 to theleft jaw 71 of gripper 70 with threaded fasteners 73 (not shown in FIG.21 ). Right tooling member 600 generally includes a base 601 to which isattached two fingers having multiple identical articulated segments 610,capped by identical articulated distal segments 620. Rotor 602 attachesright tooling member 600 to the right jaw 72 of gripper 70 with threadedfasteners 73 (only one of two is shown in FIG. 21 ). Although thepresent embodiment illustrates similar finger construction for the leftand right fingers, it should be appreciated by one skilled in the artthat the articulated segments having the left and right fingers can alsodiffer in quantity, overall dimensions, construction, and physicalarrangement from those illustrated. It is also understood that left andright fingers need not be of similar construction to one another andthat the quantity of fingers present on each tooling member can bevaried without affecting the fundamental nature of the invention.

Referring now to FIG. 22 , there is shown the left tooling member 500.The pins 517 pass through complimentary holes in base 501 and arepressed into complementary holes in rotor 502 so as to allow therotation of the rotor 502 with respect to the base 501 while preventingthe translation of base 501 with respect to rotor 502. Complimentarycountersunk holes in rotor 502 allow the rotor to be mechanicallyfastened with threaded fasteners 73 (not shown in FIG. 22 ) to the leftjaw 71 of gripper 70. Rotor 502 includes a rotor body 560 and aplurality of legs 562 extending from rotor body 560, rotor body 560being fixedly connected to, and thereby configured for rotating with,left jaw 71.

The left tooling member 500 may include an adducting tendon 504 having aproximal end connected to the rotor 502 and a distal end connected tothe distal segment 520. The adducting tendon 504 may be in the form of acable 504. The cylindrical cleat 518 mechanically fastens the proximalend of the cable 504 to rotor 502 by compressing the cable 504 againstcleat plate 519, the vertical sides of which are disposed withincomplimentary slots within rotor 502. The cylindrical ends of cleat 518are suitably retained within angled complimentary slots within rotor502. In this manner, cable 504 is held frictionally captured by theaction of cleat 518 against plate 519. It should be appreciated thatsuch mechanical attachment could also be affected with a suitableadhesive applied between the cable and the rotor. In one embodiment, thecable 504 is a polymer cable which offers the advantages overtraditional steel cable of improved resistance to fatigue and corrosion,greater flexibility, improved dissipation of mechanical shock, and lowercost. Pulleys 505, supported by pivot pins 521 pressed intocomplimentary holes in body 501, route the motion of cable 504 so thatas the proximal end of the cable is pulled by the rotation of rotor 502relative to body 501, cable 504 is drawn through the central passages ofarticulated segments 510. Although pulleys 505 are shown as beingdirectly supported by pivot pins 506, it is understood that a suitablecommercial bearing bushing, radial ball bearing, or needle bearing couldbe interposed between the pulley and pin when the size of pulley 505 issufficiently large to allow doing so.

Pivot pins 507 pass though complimentary holes in base 501 and segments510 and 520 to attach common segments 510 to base 501, to each other,and to distal segment 520, forming a chain of pinned articulatedsegments radiating outwards from base 501. Although segments 510 andsegment 520 are shown as being directly supported by pivot pins 507, itshould be appreciated that a suitable commercial bearing bushing, radialball bearing, or needle bearing could be interposed between the pivothole in the segments and pin 507 when the size of segment issufficiently large to allow doing so.

The distal end of cable 504 is mechanically fastened to distal segment520 with knurled cylindrical cleat 508. However, it should beappreciated that such mechanical attachment could also be affected witha suitable adhesive applied between the cable and the segment. Cable 504passes over pulleys 509 disposed within each identical segment 510. Inthis manner, cable 504, suitably attached between rotor 502 and distalsegment 520, effectively forms a taut adducting tendon located on oneside of segment pivot pins 507. Although pulleys 509 are shown as beingdirectly supported by pivot pins 506 pressed into complimentary holes insegments 510, it is understood that a suitable commercial bearingbushing, radial ball bearing, or needle bearing could be interposedbetween the pulley and pin when the size of pulley 509 is sufficientlylarge to allow doing so.

The strip 511, constructed of a suitable elastomeric material,effectively forms an abducting tendon located on the opposing side ofpivot pins 507. The distal end of strip 511 is attached by suitablemeans, such as thermal or adhesive bonding, into a complimentary groovein distal segment 520. The proximal end of elastomeric strip 511 isdisposed within a complementary slot in body 501 and is attached to body501 by the clamping action of set-screws 512 or by other suitablethermal or adhesive bonding. The portion of strip 511 between the distaland proximal attached ends is unconstrained and free to stretch orrelax. Strip 511 is stretched during installation to create a tension inthe strip which acts to pull distal segment 520 toward base 501. Thispull induces a torque in distal segment 520 and common segments 510which acts to rotate each segment counterclockwise (CCW) with respect topivot pins 507. It should be appreciated that the strip 511 could bereplaced by one or more helical extension springs or a flexible, butnon-stretchable tensile member attached to a suitable spring to providethe same function as an elastomeric strip.

The bosses 513, protruding from the sides of common segments 510, engagecomplimentary slots 514, in body 501 and segments 510 to constrain theangle of CCW rotation of the segment pinned to base 501 and eachsuccessive pinned segment in the segment chain, relative to the priorsegment. Thusly constrained by the action of bosses 513 within slots514, the segments cannot rotate CCW about pivots 507 beyond a positionin which the segments are in a straight, vertical alignment with oneanother.

Clockwise (CW) rotation of any segment under the influence of anexternal torque causes additional stretching of strip 511, with aresulting increase in the torque applied by the strip to the CW rotatedsegment. In this manner, strip 511 functions as an abducting tendonwhich constantly applies a torque to segments 510 and 520 about pivotpin 507 to restore the segments into straight vertical alignment withone another. Downward motion of adductor cable 504 through the centralpassages of segments 510 induces a CW torque in segments 510 and 520that causes the segments to rotate CW about pivot pins 507, furtherstretching abductor strip 511.

The pads 515 are suitably bonded into complimentary recesses in segments510. Pad 522 is suitably bonded into a complimentary recess in base 501.The pads 515 and 522 are constructed of a material such as a suitableelastomer or a nanodiamond impregnated metal substrate, possessing ahigh coefficient of static friction, so as to enhance the frictionalforces generated between the pad and any surface of the grippedworkpiece that the pad might contact.

In an analogous manner to the cleat 108 mechanically fastening thedistal end of cable 104 onto segment 120, the cleat 508 fastens thedistal end of cable 504 onto segment 520. It should be appreciated thatthe same wedging action used by the cleat 108 to retain the distal endof cable 104 within distal segment 120 is also used by the cleat 518 toretain the proximal end of cable 504 in rotor 502.

Referring now to FIG. 23 , there is shown the right tooling member 600.The pins 617 pass through complimentary holes in base 601 are pressedinto complementary holes in rotor 602 so as to allow the rotation of therotor with respect to the base while preventing the translation of base601 with respect to rotor 602. Complimentary countersunk holes in rotor602 allow the rotor to be mechanically fastened with threaded fasteners73 (not shown in FIG. 23 ) to the right jaw 72 of gripper 70.

Pivot pins 607 pass though complimentary holes in base 601 and segments610 and 620 to attach common segments 610 to base 601, to each other,and to distal segment 620, forming two chains of pinned articulatedsegments radiating outwards from base 601. Although segments 610 andsegment 620 are shown as being directly supported by pivot pins 607, itis understood that a suitable commercial bearing bushing, radial ballbearing, or needle bearing could be interposed between the pivot hole inthe segments and pin 607 when the size of segment is sufficiently largeto allow doing so.

The right tooling member 600 may include an adducting tendon 604 havinga proximal end connected to the rotor 602 and a distal end connected tothe distal segment 620. The adducting tendon 604 may be in the form of acable 604. The proximal center portion of cable 604 is routed aroundpulleys 616 which are supported by pivot pins 606 pressed intocomplimentary holes in rotor 602. In one embodiment, the cable 604 is apolymer cable which offers the advantages over traditional steel cableof improved resistance to fatigue and corrosion, greater flexibility,improved dissipation of mechanical shock, and lower cost. The pulleys605, supported by pivot pins 621 pressed into complimentary holes inbody 610, route the motion of each end of cable 604 so that as theproximal center of the cable is pulled by the motion of rotor 602relative to body 601, each end of cable 604 is drawn through the centralpassages of articulated segments 610 of one of the two segment chains.Although pulleys 605 and 616 are shown as being directly supported bypivot pins 621 and 606 respectively, it is understood that a suitablecommercial bearing bushing, radial ball bearing, or needle bearing couldbe interposed between the pulley and pin when the size of pulley 605and/or 616 is sufficiently large to allow doing so.

Each distal end of cable 604 can be mechanically fastened to distalsegment 620 of one segment chain with knurled cylindrical cleat 608. Itshould be appreciated that such mechanical attachment could also beaffected with a suitable adhesive applied between the cable and thesegment. It should be further appreciated that the same wedgingmechanism used by the cleat 508 to retain the distal end of cable 504within distal segment 520 is also used to by the cleats 608 to retaineach distal end of cable 604 in distal segments 620.

Cable 604 passes over pulleys 609 disposed within each identical segment610. In this manner, each side of cable 604, suitably attached betweenrotor 602 and distal segment 620, effectively forms a taut adductingtendon located on one side of segment pivot pins 607. Although pulleys609 are shown as being directly supported by pivot pins 606 pressed intocomplimentary holes in segments 610, it is understood that a suitablecommercial bearing bushing, radial ball bearing, or needle bearing couldbe interposed between the pulley and pin when the size of pulley 609 issufficiently large to allow doing so.

It may be desirable that each of the two segment chains of toolingmember 600 may contact and conform to the profile of a gripped workpieceindependently of one another. Such independent conformance assistsduring the gripping of workpieces possessing a plurality of asymmetricprofiles by maximizing the number of contact points between the toolingand workpiece. The articulated motion of any segment chain ceases whenthat chain fully conforms to the profile of the gripped workpiece,causing motion of the end of cable 604 attached to the fully conformedsegment chain to correspondingly cease and become stationary. Theability of the cable 604 to laterally translate across pulleys 616subsequently allows the length of the cable to shift from the free endto the stationary end, allowing the free end of cable 604 to continue tobe pulled by the action of rotor 602 rotating relative to body 601. Onceboth segments chains have completely conformed to the workpiece, theability of cable 604 to translate laterally across pulleys 616 furtherprovides a way of equalizing the tension between the two ends of thecable 604.

The strip 611, constructed of a suitable elastomeric material,effectively forms an abducting tendon located on the opposing side ofpivot pins 607. The distal end of strip 611 is can be attached by anydesired fastener or adhesive, such as thermal or adhesive bonding, intoa complimentary groove in distal segment 620. The proximal end ofelastomeric strip 611 is disposed within a complementary slot in body601 and is attached to body 601 by the clamping action of set-screws 612or by other suitable thermal or adhesive bonding. The portion of strip611 between the distal and proximal attached ends is unconstrained andfree to stretch or relax. Strip 611 is stretched during installation tocreate a tension in the strip which acts to pull distal segment 620toward base 601. This pull induces a torque in distal segment 620 andcommon segments 610 which acts to rotate each segment CW with respect topivot pins 607. It will be understood by one skilled in the art thatstrip 611 could be replaced by one or more helical extension springs ora flexible, but non-stretchable tensile member attached to a suitablespring to provide the same function as an elastomeric strip.

The bosses 613, protruding from the sides of common segments 610, engagecomplimentary slots 614, in body 601 and segments 610 to constrain theangle of CW rotation of the segment pinned to base 601 and eachsuccessive pinned segment in the segment chain, relative to the priorsegment. Thusly constrained by the action of bosses 613 within slots614, the segments cannot rotate CW about pivots 607 beyond a position inwhich the segments are in a straight, vertical alignment with oneanother.

CCW rotation of any segment under the influence of an external torquecauses additional stretching of strip 611, with a resulting increase inthe torque applied by the strip to the CCW rotated segment. In thismanner, strip 611 functions as an abducting tendon which constantlyapplies a torque to segments 610 and 620 about pivot pin 607 to restorethe segments into straight vertical alignment with one another. Downwardmotion of adductor cable 604 through the central passages of segments610 induces a CCW torque in segments 610 and 620 that causes thesegments to rotate CCW about pivot pins 607, further stretching abductorstrip 611. It should be appreciated that the orientation of member 600is reversed in FIG. 23 when compared to FIG. 24 .

The pads 615 are suitably bonded into complimentary recesses in segments610. The pad 622 is suitably bonded into a complimentary recess in base601. The pads 615 and 622 are constructed of a material such as asuitable elastomer or a nanodiamond impregnated metal substrate,possessing a high coefficient of static friction, so as to enhance thefrictional forces generated between the pad and any surface of thegripped workpiece that the pad might contact.

Referring now specifically to FIG. 24 , there is shown the toolingmembers 500 and 600 gripping the example of the cylindrical workpiece30. Once the base 501 is brought to rest by contact of pad 522 withworkpiece 30, rotor 502 continues to rotate in the direction of arrow29L under the action of gripper jaw 71, relative to stationary base 501.Such relative motion pulls adductor cable 504, routed around pulleys505, downward through the central passages of segments 510. Downwardmotion of the cable 504 induces a CW torque in segments 510 and 520 thatcauses the segments to rotate CW in the direction of arrow 31 aboutpivot pins 507, stretching abductor strip 511 and forcing pads 515bonded to segments 510 and strip 511 bonded onto distal segment 520 intoconformal contact with the surface of workpiece 30.

Once base 601 is brought to rest by contact of pad 622 with workpiece30, slider 602 continues to rotate in the direction of arrow 29R underthe action of gripper jaw 72, relative to stationary base 601. Suchrelative motion pulls adductor cable 604, routed around pulleys 605,downward through the central passages of segments 610. Downward motionof cable 604 induces a CCW torque in segments 610 and 620 that causesthe segments to rotate CCW in the direction of arrow 32 about pivot pins607, stretching abductor strip 611 and forcing pads 615 bonded tosegments 610 and strip 611 bonded onto distal segment 620 into conformalcontact with the surface of workpiece 30. The motive tension of eachadductor cable 504, 604 as the cable 504, 604 is drawn through therespective central passage of segments 510, 610 is directed downwardly.

While this invention has been described with respect to at least oneembodiment, the present invention can be further modified within thespirit and scope of this disclosure. This application is thereforeintended to cover any variations, uses, or adaptations of the inventionusing its general principles. Further, this application is intended tocover such departures from the present disclosure as come within knownor customary practice in the art to which this invention pertains andwhich fall within the limits of the appended claims.

What is claimed is:
 1. A gripper tooling, comprising: a gripper having agripper body and at least one angular jaw; at least one rotor includinga rotor body and a plurality of legs extending from the rotor body, therotor body of the at least one rotor being fixedly connected to, andthereby configured for rotating with, the at least one angular jaw; andat least one tooling member configured for gripping a workpiece, eachsaid tooling member including: a base pivotally connected to theplurality of legs of the at least one rotor, the plurality of legs ofthe at least one rotor being disposed within the base; at least onemiddle segment pivotally connected to the base; a distal segmentpivotally connected to the at least one middle segment; an adductingtendon having a proximal end attached to the rotor body of the at leastone rotor and a distal end attached to the distal segment, the at leastone rotor configured for rotating relative to the base and thereby fortensioning the adducting tendon; and an abducting tendon having aproximal end attached to the base and a distal end attached to thedistal segment such that the at least one tooling member is configuredfor autonomously gripping the workpiece as the at least one angular jawrotates toward the workpiece and the at least one tooling memberautonomously returns to an ungripped position as the at least oneangular jaw rotates away from the workpiece, the abducting tendon havingan absence of an assembly including a tendon and a linear springattached to a distal end of the tendon.
 2. The gripper tooling of claim1, wherein in gripping the workpiece the base is configured to beimmobilized by the workpiece and the at least one rotor is configured torotate relative to the base toward the workpiece, tensioning theadducting tendon and causing a rotation of the at least one middlesegment and the distal segment, in a first direction, for gripping theworkpiece.
 3. The gripper tooling of claim 2, wherein the angular jaw isconfigured for pivoting the base and the at least one rotor as a singleunit until the workpiece stops the base, and then for pivoting the atleast one rotor relative to the base so as to tension the adductingtendon.
 4. The gripper tooling of claim 3, wherein in gripping theworkpiece, the abducting tendon is stretched as the at least one middlesegment and the distal segment rotate in the first direction, and in theungripped position the abducting tendon is configured for rotating theat least one middle segment and the distal segment rotate in a seconddirection.
 5. The gripper tooling of claim 4, wherein the abductingtendon overlays a portion of the distal segment and is therebyconfigured for contacting the workpiece when the tooling member gripsthe workpiece.
 6. The gripper tooling of claim 1, further including aplurality of pulleys internally disposed within the base and the atleast one middle segment, and each said pulley is configured forcontacting the adducting tendon.
 7. The gripper tooling of claim 1,wherein the adducting tendon is internally disposed within the base, theat least one middle segment, and the distal segment.
 8. The grippertooling of claim 1, wherein the at least one angular jaw includes afirst angular jaw and a second angular jaw, the at least one rotorincludes a first rotor and a second rotor, and the at least one toolingmember includes a first tooling member and a second tooling member. 9.The gripper tooling of claim 8, wherein the first tooling member is inthe form of a first finger and the second tooling member is in the formof a pair of second fingers having a common base and each second fingerhaving a respective at least one middle segment, a distal segment, anabducting tendon, and an adducting tendon.
 10. A method for gripping aworkpiece, comprising the steps of: providing a gripper toolingincluding a gripper having a gripper body and at least one angular jawmoveably connected to, and thereby configured for rotating relative to,the gripper body, at least one rotor including a rotor body and aplurality of legs extending from the rotor body, the rotor body of theat least one rotor being fixedly connected to, and thereby configuredfor rotating with, the at least one angular jaw, and at least onetooling member configured for gripping the workpiece, each toolingmember including a base pivotally connected to the plurality of legs ofthe at least one rotor, at least one middle segment pivotally connectedto the base, a distal segment pivotally connected to the at least onemiddle segment, an adducting tendon having a proximal end attached tothe rotor body of the at least one rotor and a distal end attached tothe distal segment, and an abducting tendon having a proximal endattached to the base and a distal end attached directly to the distalsegment, the plurality of legs of the at least one rotor beingdisposed—and thus housed—within the base, the abducting tendon having anabsence of an assembly including a tendon and a linear spring attachedto a distal end of the tendon; gripping the workpiece by the adductingtendon upon moving the base, by the at least one angular jaw, to beimmobilized by the workpiece; and ungripping the workpiece by theabducting tendon upon moving the base, by the at least one angular jaw,away from the workpiece.
 11. The method of claim 10, wherein in the stepof gripping the workpiece, the base is configured to be immobilized bythe workpiece and the at least one rotor is configured to rotaterelative to the base toward the workpiece, thereby tensioning theadducting tendon and causing a rotation of the at least one middlesegment and the distal segment, in a first direction, for gripping theworkpiece, and the abducting tendon is stretched as the at least onemiddle segment and the distal segment rotate in the first direction, andin the step of ungripping the workpiece, the abducting tendon isconfigured for rotating the at least one middle segment and the distalsegment in a second direction.
 12. The method of claim 11, wherein theat least one tooling member is configured for autonomously gripping theworkpiece as the at least one angular jaw rotates toward the workpieceand the at least one tooling member autonomously returns to an ungrippedposition as the at least one angular jaw rotates away from theworkpiece, the abducting tendon having an absence of an assemblyincluding a tendon and a linear spring attached to a distal end of thetendon.